A Truly-Redundant Aerial Manipulator System With Application to Push-and-Slide Inspection in Industrial Plants

被引：140

作者：

Tognon, Marco ^{[1
]}

Chavez, Hermes A. Tello ^{[1
]}

Gasparin, Enrico ^{[2
]}

Sable, Quentin ^{[1
]}

Bicego, Davide ^{[1
]}

Mallet, Anthony ^{[1
]}

Lany, Marc ^{[2
]}

Santi, Gilles ^{[2
]}

Revaz, Bernard ^{[2
]}

Cortes, Juan ^{[1
]}

Franchi, Antonio ^{[1
]}

机构：

[1] Univ Toulouse, LAAS, CNRS, F-31031 Toulouse, France

[2] Sensima Inspect, CH-1196 Gland, Switzerland

来源：

IEEE ROBOTICS AND AUTOMATION LETTERS | 2019年 / 4卷 / 02期

基金：

欧盟地平线“2020”;

关键词：

Aerial Systems: Mechanics and Control; Aerial Systems: Applications; Motion Control;

D O I：

10.1109/LRA.2019.2895880

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

We present the design, motion planning, and control of an aerial manipulator for non-trivial physical interaction tasks, such as pushing while sliding on curved surfaces-a task which is motivated by the increasing interest in autonomous non-destructive tests for industrial plants. The proposed aerial manipulator consists of a multidirectional-thrust aerial vehicle-to enhance physical interaction capabilities-endowed with a 2-DoFs lightweight arm-to enlarge its workspace. This combination makes it a truly-redundant manipulator going beyond standard aerial manipulators based on collinear multirotor platforms. The controller is based on a PID method with a "displaced" positional part that ensures asymptotic stability despite the arm elasticity. A kinodynamic task-constrained and control-aware global motion planner is used. Experiments show that the proposed aerial manipulator system, equipped with an Eddy current probe, is able to scan a metallic pipe sliding the sensor over its surface and preserving the contact. From the measures, a weld on the pipe is successfully detected and mapped.

引用

页码：1846 / 1851

页数：6

共 19 条

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